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   <h1>All modules for which code is available</h1>
 <ul><li><a href="roboticstoolbox/backends/PyPlot/PyPlot.html">roboticstoolbox.backends.PyPlot.PyPlot</a></li>
 <li><a href="roboticstoolbox/backends/PyPlot/PyPlot2.html">roboticstoolbox.backends.PyPlot.PyPlot2</a></li>
@@ -202,6 +111,7 @@ <h1>All modules for which code is available</h1>
 <li><a href="roboticstoolbox/models/ETS/Planar_Y.html">roboticstoolbox.models.ETS.Planar_Y</a></li>
 <li><a href="roboticstoolbox/models/ETS/Puma560.html">roboticstoolbox.models.ETS.Puma560</a></li>
 <li><a href="roboticstoolbox/models/URDF/Frankie.html">roboticstoolbox.models.URDF.Frankie</a></li>
+<li><a href="roboticstoolbox/models/URDF/FrankieOmni.html">roboticstoolbox.models.URDF.FrankieOmni</a></li>
 <li><a href="roboticstoolbox/models/URDF/KinovaGen3.html">roboticstoolbox.models.URDF.KinovaGen3</a></li>
 <li><a href="roboticstoolbox/models/URDF/LBR.html">roboticstoolbox.models.URDF.LBR</a></li>
 <li><a href="roboticstoolbox/models/URDF/Mico.html">roboticstoolbox.models.URDF.Mico</a></li>
@@ -233,62 +143,43 @@ <h1>All modules for which code is available</h1>
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